Investigation of behaviour of parallel robot attracts the attention of researchers around the world. The main features of parallel robots are high precision and accuracy, work with high speed and large payload that make these robots capable of fast picking applications in agriculture, food and pharmaceutical industry, medicine etc. The most common limitation of the parallel robot is small workspace. Development of dynamic model of parallel robot based on its 3D CAD assembly is explained in the paper. Dynamic model of robot manipulator of ABB IRB 360 is automatically generated by importing of 3D CAD assembly from SolidWorks to Simulink programming environment. The obtained model can serve as a research platform to define task in joint or operational workspace, to investigate different control strategies, planning trajectories etc.